CN108748161A - A kind of service robot visual remote control system based on ROS networks - Google Patents
A kind of service robot visual remote control system based on ROS networks Download PDFInfo
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- CN108748161A CN108748161A CN201810727264.5A CN201810727264A CN108748161A CN 108748161 A CN108748161 A CN 108748161A CN 201810727264 A CN201810727264 A CN 201810727264A CN 108748161 A CN108748161 A CN 108748161A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The service robot visual remote control system based on ROS networks that the present invention relates to a kind of, including mobile robot platform module, router-module, server and control module；Mobile robot platform module includes Up board, depth camera, wireless network card and the MCU motion controls end for moving chassis and being installed on movement chassis, router-module includes the wireless router that ROS networks are formed with wireless network card, the image that depth camera acquires handle and broadcast in ROS networks by Up board, server receives image, control instruction is passed into MCU motion controls end by manually sending out control instruction, and by serial communication.The present invention can manually be operated apart from the place of family relatively far away to complete to instruct accordingly, in mobile work robot by way of breaking away from traditional camera head monitor home environment situation stayed at home installation.The flexibility for greatly reducing development cost, increasing mobile robot.
Description
Technical field
The present invention relates to ROS service robots fields, and in particular to a kind of service robot visualization based on ROS networks
Tele-control system.
Background technology
Some advanced technologies of robot field were made that very big tribute to social development and industrial production in recent years
It offers, robot system has obtained answering extensively in fields such as automated production field, military field, medical field and home services
With more and more robot applications occur in daily life, improving our living environment step by step.Home services machine
The development of people's industry has huge impetus to modernization of the country construction.Traditional home-services robot is in developing intellectual resource
Change the realization that a large amount of codes are needed in module process, development cost is high.The fast development of industry is to traditional services intelligent robot
Change, automatization level has higher test.The broad development of machine vision promote it is more intelligent, more it is light and handy easily
Service-delivery machine man-based development.Traditional home services development efficiency is low, development cost is high.Want to reach and home environment is supervised
Depending on purpose, the general method using monitoring camera, this method flexibility is poor.
Invention content
The present invention provides a kind of service robot visual remote based on ROS networks for the deficiencies in the prior art
Control system captures the motion state of robot, Up using the depth camera in mobile robot in real time
Board handles the collected information of depth camera, the robot motion for being captured depth camera by ROS networks
State and family's real-time scene are sent to remote desktop computer, then monitor mobile robot on remote desktop computer
Action and family real-time scene.Action and the family of mobile robot are manually judged by remote desktop computer
Real-time scene sends out instruction by industrial control board, and command information is passed to MCU motion controls end, passes through PID control by digital transmission module
Algorithm handles the pwm signal of output, controls DC speed-reducing with encoder and carries out command adapted thereto operation, to control
The movement of mobile robot processed to home environment accident detect and handle in time.
To solve the above problems, the technical solution that the present invention takes is：A kind of service robot based on ROS networks is visual
Change tele-control system, including mobile robot platform module, router-module, server and control module；
The mobile robot platform module includes movement chassis, Up board, depth camera, wireless network card and MCU
Motion control end, Up board, depth camera, wireless network card and MCU motion controls end are installed on movement chassis.
There are four the Mecanum wheel for being controlled by MCU motion controls end, the Mecanum wheel can for installation below the movement chassis
Omnibearing movable has very strong flexibility.
The router-module includes Connection Service device and control module and wireless with mobile robot platform module
Network interface card forms the wireless router of ROS networks, and the image that depth camera acquires is handled and passes through publication by Up board
Topic mode is broadcasted in ROS networks, and server receives image by way of subscribing to and decoupling；
The server and control module are made of desktop computer and industrial control board, by manually sending out control instruction, and
Control instruction is passed into MCU motion controls end by serial communication.
Service robot visual remote control system based on ROS networks is based on ROS development platforms, has easily extension
Property.Monitor the operation conditions and home environment situation of mobile robot in real time using ROS network systems, and to the fortune of robot
Row state carries out Real-time Feedback, instructs home-services robot to require to carry out respective activity according to the psychology of people, timely to family
Front yard environmental burst accident is reacted.
Preferably, the depth camera uses RealSense R200 depth phase heads, which can be different
It is run in computer system, RealSense R200 are mounted on the Up board mating with camera.
Preferably, the Up board carrying X5-Z8350 processors pass through nothing using distributed arithmetic distribution method
The ROS networks of line router and wireless network card structure connection Up board and server.
Preferably, MCU motion controls end includes that power supply and sequentially connected MCU, light-coupled isolation unit, power are put
Big device, direct current generator；The direct current generator DC speed-reducing with encoder that Mecanum wheel acts in order to control.
Preferably, the MCU selects the RAM processor chips of the enhanced series of model STM32F103C8T6, reception by
The control instruction of digital transmission module transmission simultaneously exports corresponding pwm signal.
The effect of wherein light-coupled isolation unit is to carry out insulation blocking to MCU and power amplifier；The work of power amplifier
With being to be amplified processing to the power of pwm signal, current signal is amplified after processing and is powered to DC speed-reducing.
Preferably, the desktop computer uses the Kunlun on-state industrial control board using association's desktop computer, the industrial control board.
Beneficial effects of the present invention are：When people are when apart from family relatively far away from, pass through the depth in mobile robot
Camera detects the motion state of home environment state and mobile robot in real time, is carried out to home environment condition real-time
Detection, and operated accordingly by adjusting the motion state of mobile robot.
The motion state of mobile robot can be manually detected in real time, and command information is sent out by industrial control board, instructed
Information is sent to MCU by serial communication, digital transmission module, generates pwm signal and then controls DC speed-reducing with encoder
Movement realizes the real-time detection to home environment and completes corresponding operation by mobile robot.In this way in moving machine
Device man-hour can manually operate to complete to instruct accordingly apart from the place of family relatively far away from, break away from traditional lead to
Cross the mode of the camera head monitor home environment situation of installation at home.It greatly reduces development cost, increase mobile machine
The flexibility of people.
Description of the drawings
Fig. 1 is control flow schematic diagram of the present invention；
Fig. 2 is MCU motion controls of the present invention end schematic diagram；
In Fig. 1：1. desktop computer, 2.Up board, 3.MCU controlled motions end, 4. depth cameras, 5. movement bottoms
Disk.
Specific implementation mode
In order to clarify the technical characteristics of the invention, below by specific implementation mode, this programme is illustrated.
A kind of service robot visual remote control system based on ROS networks, including mobile robot platform module,
Router-module, server and control module；
The mobile robot platform module include move chassis 5 and be installed on movement chassis 5 on Up board 2,
Depth camera 4, wireless network card and MCU motion controls end 3, there are four be controlled by MCU movements for 5 lower section installation of the movement chassis
The Mecanum wheel of control terminal 3；The depth camera 4 is connect by USB with Up board 2, and the wireless network card is mounted on
Up board 2 are for building ROS networks.
The router-module includes Connection Service device and control module and wireless with mobile robot platform module
Network interface card forms the wireless router of ROS networks, and the image that depth camera 4 acquires is handled and passes through hair by Up board 2
Cloth topic mode is broadcasted in ROS networks, and server receives image by way of subscribing to and decoupling；
The server and control module are made of desktop computer 1 and industrial control board, by manually sending out control instruction simultaneously
Control instruction is passed into MCU motion controls end 3 by serial communication.The desktop computer 1 is in activation system according to camera
The parameters such as resolution ratio, the frame number of start-up parameter configurable deep camera 4.
Preferably, the depth camera 4 uses RealSense R200 depth phase heads, which can be different
It is run in computer system, RealSense R200 are mounted on the Up board mating with camera.
Preferably, the Up board 2 are carried X5-Z8350 processors and are passed through using distributed arithmetic distribution method
The ROS networks of wireless router and wireless network card structure connection Up board and server.
Preferably, the desktop computer 1 uses the Kunlun on-state industry control using association's desktop computer, the industrial control board
Plate.
As shown in Fig. 2, MCU motion controls end 3 includes power supply and sequentially connected MCU, light-coupled isolation unit, work(
Rate amplifier, direct current generator；The direct current generator DC speed-reducing with encoder that Mecanum wheel acts in order to control；
The MCU selects the RAM processor chips of the enhanced series of model STM32F103C8T6, what reception was transmitted by digital transmission module
Control instruction simultaneously exports corresponding pwm signal.The effect of wherein light-coupled isolation unit is that MCU and power amplifier are isolated
Protection；The effect of power amplifier is to be amplified processing to the power of pwm signal, and it is right after handling to be amplified to current signal
DC speed-reducing is powered.
4 collected data of depth camera are handled by UP board 2 in this control system, wireless router connection
Server forms ROS networks with wireless network card, and in Ubuntu systems, RealSense R200 depth is used under ROS frames
Camera gathered data is indicated and visualizes presence in computational science and computer graphics to information in true field
Strong requirement carries out the monitoring of environment using Rviz3D visualization tools, it is operated in ROS frames, basically about machine
All data of device people can be visualized out on Rviz.The application carries out looking into for video flowing using Rviz
It sees, there are two steps：
The first step, operation node start RealSense R200 depth cameras, the color video stream and depth of camera are regarded
Frequency stream is defined as message (Message), and message is broadcast in ROS networks by issuing subject (Topic).
Second step starts Rviz by subscribing to theme, receives and decouple the message of camera node publication, pass through the shape of video
Formula is shown.
Claims (6)
1. a kind of service robot visual remote control system based on ROS networks, it is characterised in that：Including mobile robot
Console module, router-module, server and control module；The mobile robot platform module includes movement chassis and peace
Loaded on Up board, depth camera, wireless network card and the MCU motion controls end on movement chassis, the movement chassis lower section
The Mecanum wheel for being controlled by MCU motion controls end is installed；
The router-module include Connection Service device and control module and with the wireless network card of mobile robot platform module
Form ROS networks wireless router, the image that depth camera acquire by Up board carry out processing and in ROS networks extensively
It broadcasts, server receives image；
The server and control module are made of desktop computer and industrial control board, by manually sending out control instruction, and by going here and there
Control instruction is passed to MCU motion controls end by port communications.
2. the service robot visual remote control system according to claim 1 based on ROS networks, feature exist
In：The depth camera uses RealSense R200 depth phase heads.
3. the service robot visual remote control system according to claim 1 based on ROS networks, feature exist
In：The Up board carry X5-Z8350 processors and pass through wireless router and nothing using distributed arithmetic distribution method
The ROS networks of the structure connection of gauze card Up board and server.
4. the service robot visual remote control system according to claim 1 based on ROS networks, feature exist
In：MCU motion controls end includes power supply and sequentially connected MCU, light-coupled isolation unit, power amplifier, direct current
Machine；The direct current generator DC speed-reducing with encoder that Mecanum wheel acts in order to control.
5. the service robot visual remote control system according to claim 4 based on ROS networks, feature exist
In：The MCU selects the RAM processor chips of the enhanced series of model STM32F103C8T6, receives control instruction and exports
Corresponding pwm signal.
6. the service robot visual remote control system according to claim 1 based on ROS networks, feature exist
In：The industrial control board uses the Kunlun on-state industrial control board.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810727264.5A CN108748161B (en) | 2018-07-04 | 2018-07-04 | Service robot visual remote control system based on ROS network |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810727264.5A CN108748161B (en) | 2018-07-04 | 2018-07-04 | Service robot visual remote control system based on ROS network |
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| CN108748161A true CN108748161A (en) | 2018-11-06 |
| CN108748161B CN108748161B (en) | 2021-11-23 |
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Cited By (3)
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| CN112113565A (en) * | 2020-09-22 | 2020-12-22 | 温州科技职业学院 | Robot positioning system for agricultural greenhouse environment |
| CN112804578A (en) * | 2021-01-28 | 2021-05-14 | 广州虎牙科技有限公司 | Atmosphere special effect generation method and device, electronic equipment and storage medium |
| CN114786036A (en) * | 2022-03-02 | 2022-07-22 | 上海仙途智能科技有限公司 | Monitoring method and device for automatic driving vehicle, storage medium and computer equipment |
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| CN108748161B (en) | 2021-11-23 |
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